AirLine: 局所エッジ投票による効率的な学習可能直線検出
AirLine: Efficient Learnable Line Detection with Local Edge Voting
エッジから直接線分を抽出する学習ベースの直線検出手法を提案し、領域成長法と局所エッジ投票により高精度を保ちつつ3〜80倍の高速化を実現した。
分類: cs.RO
原文アブストラクト
Line detection is widely used in many robotic tasks such as scene recognition, 3D reconstruction, and simultaneous localization and mapping (SLAM). Compared to points, lines can provide both low-level and high-level geometrical information for downstream tasks. In this paper, we propose a novel learnable edge-based line detection algorithm, AirLine, which can be applied to various tasks. In contrast to existing learnable endpoint-based methods, which are sensitive to the geometrical condition of environments, AirLine can extract line segments directly from edges, resulting in a better generalization ability for unseen environments. To balance efficiency and accuracy, we introduce a region-grow algorithm and a local edge voting scheme for line parameterization. To the best of our knowledge, AirLine is one of the first learnable edge-based line detection methods. Our extensive experiments have shown that it retains state-of-the-art-level precision, yet with a 3 to 80 times runtime acceleration compared to other learning-based methods, which is critical for low-power robots.
